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master's thesis
Stvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom
2020. urn:nbn:hr:200:439531
Tomašić, Branimir
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

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Tomašić, B. (2020). Stvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:439531

Tomašić, Branimir. "Stvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2020. https://urn.nsk.hr/urn:nbn:hr:200:439531

Tomašić, Branimir. "Stvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2020. https://urn.nsk.hr/urn:nbn:hr:200:439531

Tomašić, B. (2020). 'Stvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 28 May 2023, https://urn.nsk.hr/urn:nbn:hr:200:439531

Tomašić B. Stvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2020 [cited 2023 May 28] Available at: https://urn.nsk.hr/urn:nbn:hr:200:439531

B. Tomašić, "Stvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:200:439531

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Metadata
TitleStvaranje 3D modela prostorija fuzijom 3D oblaka točaka snimljenih 3D kamerom
Title (english)Creating a 3D Model of Indoor Environments by Fusion of 3D Point Clouds Acquired by a 3D Camera
AuthorBranimir Tomašić
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberDamir Filko (član povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2020-10-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Data Processing
Abstract
U radu je objašnjen algoritam za stvaranje 3D modela prostorije fuzijom 3D oblaka točaka. Korištenjem navedenog algoritma, koji je implementiran unutar RVL (Robot Vision Library) biblioteke, implementirana je simulacija mjernog šuma koji se javlja u stvarnim mjerenjima s RGB-D kamerama. Algoritam radi na principu aktivne vizije koja se temelji na dva kriterija: što veći postotak još neistražene scene mora biti sadržan u sljedećem pogledu i dio scene koji je potpuno obuhvaćen sljedećim i jednim od prethodnih pogleda sadrži dovoljno informacije za uspješno poravnanje. Za izračunavanje korespondencije točaka u 3D oblaku točaka koristi se ICP algoritam koji ima tri uvjeta za ispravnu korespondenciju: euklidska udaljenost između dviju točaka mora biti manja od one uzrokovane rotacijom kamere za 3°, razlika normala tih točaka mora biti manja od 10° i razlika udaljenosti od kamere obje točke mora biti manja od 0,03m. Algoritam je testiran na šest različitih 3D modela prostorija preuzetih iz Replica baze. Dobiveni modeli uspoređeni su s originalnim. Maksimalna i srednja pogreška rotacije su prikazane za različite poglede kroz različite iteracije 3D modela prostorija iz Replica baze te su prikazani odgovarajući grafovi za njih.
Abstract (english)
An algorithm for creating 3D room model by fusing 3D point clouds was explained in this paper. This algorithm, which is implemented as a part of RVL (Robot Vision Library), was used to simulate noise which occurs in real-time measurements with RGB-D cameras. The algorithm works on the principle of active vision which has two criteria: next view has to incorporate the largest possible percentage of yet unexplored scene and part of the scene that is completely incorporated in both the next and one of the previous views contains enough information for succesful registration. An ICP algorithm, which has three conditions for succesful registration, was used to calculate point correspondence in 3D point clouds. Those conditions are: Euclidean distance between two points has to be less than the point shift caused by camera rotation of 3°, difference in point normals of these points has to be less than 10° and difference in distances from the camera of these points has to be less than 0,03m. The algorithm was tested on six different 3D room models from Replica Dataset. Point cloud registration was tested and the created models were compared with the original ones. Maximal and average rotation errors were calculated for different views in different iterations of 3D room models from the Replica Dataset. These results were presented in the form of graphs for each 3D room model.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:439531
Study programmeTitle: UNIVERSITY STUDY AUTOMOBILE COMPUTER AND COMMUNICATION
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka automobilskog računarstva i komunikacija (magistar/magistra inženjer/inženjerka automobilskog računarstva i komunikacija)
Type of resourceText
File originBorn digital
Access conditionsOpen access
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Created on2020-12-07 13:43:46